一种带魔术球外壳的可变直径轮设计

Design of a variable-diameter wheel with magic-ball shell

文中提出了一种外部使用魔术球折纸结构内部使用多连杆支架的可变直径轮,所谓的魔术球折纸图案是一种众所周知的图案,它可从长圆柱形管变成扁平圆形圆柱。经过改进的魔术球外壳与经过特殊设计的多连杆支架同步运动,得益于魔术球结构外壳对多连杆的遮护,此款可变形车轮在恶劣工况下有更强的适应能力。此外,通过对车轮结构的运动学模型分析,可以得到车轮的折展半径和变形执行器的位置关系,并通过试验进行了验证。

In this article,efforts are made to present a variable diameter wheel with a magic-ball origami structure on the outside and a multi-link bracket on the inside.The so-called magic-ball origami pattern,as is well-known,can change from a long cylindrical tube to a flat circular cylinder.The improved magic-ball shell moves synchronously with the specially-designed multi-link bracket.Thanks to the cover of the magic-ball shell on the multi-link bracket,this variable wheel has stronger adaptability under poor working conditions.In addition,through the analysis on the wheel structure in the kinematic model,the relationship between the wheel's roll radius and the position of the deformation actuator is obtained,and the analytical results are verified by experiments.